#include <Controller_impl.h>
Classes | |
struct | JointValueSeqInfo |
struct | RtcInfo |
Public Member Functions | |
virtual omniObjRef * | _do_get_interface () |
virtual void | control () |
Controller_impl (RTC::Manager *rtcManager, BridgeConf *bridgeConf) | |
virtual void | destroy () |
void | flushJointDataSeqToSimulator (DynamicsSimulator::LinkDataType linkDataType) |
void | flushLinkDataToSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType, const DblSequence &linkData) |
ImageData * | getCameraImageFromSimulator (int cameraId) |
SensorState & | getCurrentSensorState () |
DblSequence & | getJointDataSeqRef (DynamicsSimulator::LinkDataType linkDataType) |
DblSequence * | getLinkDataFromSimulator (const std::string &linkName, DynamicsSimulator::LinkDataType linkDataType) |
DblSequence * | getSensorDataFromSimulator (const std::string &sensorName) |
double | getTimeStep () |
virtual void | initialize () |
virtual void | input () |
virtual void | output () |
virtual void | setDynamicsSimulator (DynamicsSimulator_ptr dynamicsSimulator) |
virtual void | setModelName (const char *localModelName) |
void | setTimeStep (CORBA::Double _timeStep) |
virtual void | setViewSimulator (ViewSimulator_ptr viewSimulator) |
virtual void | shutdown () |
virtual void | start () |
virtual void | stop () |
~Controller_impl () | |
Public Attributes | |
double | controlTime |
Private Types | |
typedef std::map < DynamicsSimulator::LinkDataType, JointValueSeqInfo > | JointValueSeqInfoMap |
typedef std::map< std::string, Port_Service_Var_Type > | PortMap |
typedef std::map< std::string, RtcInfoPtr > | RtcInfoMap |
typedef boost::shared_ptr < RtcInfo > | RtcInfoPtr |
typedef std::vector< RtcInfoPtr > | RtcInfoVector |
Private Member Functions | |
void | activeComponents () |
Controller_impl::RtcInfoPtr | addRtcVectorWithConnection (RTC::RTObject_var rtcRef) |
int | connectPorts (Port_Service_Ptr_Type outPort, Port_Service_Ptr_Type inPort) |
void | deactiveComponents () |
void | detectRtcs () |
void | disconnectRtcConnections (PortMap &refPortMap) |
void | makePortMap (RtcInfoPtr &rtcInfo) |
void | restart () |
void | setupRtcConnections () |
Private Attributes | |
bool | bRestart |
BridgeConf * | bridgeConf |
CameraSequence_var | cameras |
Camera::CameraParameter_var | cparam |
DynamicsSimulator_var | dynamicsSimulator |
std::string | modelName |
RTC::CorbaNaming * | naming |
JointValueSeqInfoMap | outputJointValueSeqInfos |
RtcInfoMap | rtcInfoMap |
RtcInfoVector | rtcInfoVector |
RTC::Manager * | rtcManager |
SensorState_var | sensorState |
bool | sensorStateUpdated |
double | timeStep |
ViewSimulator_var | viewSimulator |
VirtualRobotRTC * | virtualRobotRTC |
Definition at line 39 of file Controller_impl.h.
typedef std::map<DynamicsSimulator::LinkDataType, JointValueSeqInfo> Controller_impl::JointValueSeqInfoMap [private] |
Definition at line 116 of file Controller_impl.h.
typedef std::map<std::string, Port_Service_Var_Type> Controller_impl::PortMap [private] |
Definition at line 86 of file Controller_impl.h.
typedef std::map<std::string, RtcInfoPtr> Controller_impl::RtcInfoMap [private] |
Definition at line 98 of file Controller_impl.h.
typedef boost::shared_ptr<RtcInfo> Controller_impl::RtcInfoPtr [private] |
Definition at line 96 of file Controller_impl.h.
typedef std::vector<RtcInfoPtr> Controller_impl::RtcInfoVector [private] |
Definition at line 100 of file Controller_impl.h.
Controller_impl::Controller_impl | ( | RTC::Manager * | rtcManager, |
BridgeConf * | bridgeConf | ||
) |
Definition at line 35 of file Controller_impl.cpp.
Definition at line 51 of file Controller_impl.cpp.
virtual omniObjRef* Controller_impl::_do_get_interface | ( | ) | [inline, virtual] |
Definition at line 74 of file Controller_impl.h.
void Controller_impl::activeComponents | ( | ) | [private] |
Definition at line 551 of file Controller_impl.cpp.
Controller_impl::RtcInfoPtr Controller_impl::addRtcVectorWithConnection | ( | RTC::RTObject_var | rtcRef | ) | [private] |
Definition at line 165 of file Controller_impl.cpp.
int Controller_impl::connectPorts | ( | Port_Service_Ptr_Type | outPort, |
Port_Service_Ptr_Type | inPort | ||
) | [private] |
Definition at line 282 of file Controller_impl.cpp.
void Controller_impl::control | ( | ) | [virtual] |
Definition at line 467 of file Controller_impl.cpp.
void Controller_impl::deactiveComponents | ( | ) | [private] |
Definition at line 582 of file Controller_impl.cpp.
void Controller_impl::destroy | ( | ) | [virtual] |
Definition at line 498 of file Controller_impl.cpp.
void Controller_impl::detectRtcs | ( | ) | [private] |
Definition at line 62 of file Controller_impl.cpp.
void Controller_impl::disconnectRtcConnections | ( | PortMap & | refPortMap | ) | [private] |
void Controller_impl::flushJointDataSeqToSimulator | ( | DynamicsSimulator::LinkDataType | linkDataType | ) |
Definition at line 431 of file Controller_impl.cpp.
void Controller_impl::flushLinkDataToSimulator | ( | const std::string & | linkName, |
DynamicsSimulator::LinkDataType | linkDataType, | ||
const DblSequence & | linkData | ||
) |
Definition at line 443 of file Controller_impl.cpp.
ImageData * Controller_impl::getCameraImageFromSimulator | ( | int | cameraId | ) |
Definition at line 398 of file Controller_impl.cpp.
SensorState & Controller_impl::getCurrentSensorState | ( | ) |
Definition at line 370 of file Controller_impl.cpp.
DblSequence & Controller_impl::getJointDataSeqRef | ( | DynamicsSimulator::LinkDataType | linkDataType | ) |
Definition at line 425 of file Controller_impl.cpp.
DblSequence * Controller_impl::getLinkDataFromSimulator | ( | const std::string & | linkName, |
DynamicsSimulator::LinkDataType | linkDataType | ||
) |
Definition at line 382 of file Controller_impl.cpp.
DblSequence * Controller_impl::getSensorDataFromSimulator | ( | const std::string & | sensorName | ) |
Definition at line 390 of file Controller_impl.cpp.
double Controller_impl::getTimeStep | ( | ) | [inline] |
Definition at line 62 of file Controller_impl.h.
void Controller_impl::initialize | ( | void | ) | [virtual] |
Definition at line 510 of file Controller_impl.cpp.
void Controller_impl::input | ( | ) | [virtual] |
Definition at line 413 of file Controller_impl.cpp.
void Controller_impl::makePortMap | ( | RtcInfoPtr & | rtcInfo | ) | [private] |
Definition at line 153 of file Controller_impl.cpp.
void Controller_impl::output | ( | ) | [virtual] |
Definition at line 451 of file Controller_impl.cpp.
void Controller_impl::restart | ( | ) | [private] |
Definition at line 547 of file Controller_impl.cpp.
void Controller_impl::setDynamicsSimulator | ( | DynamicsSimulator_ptr | dynamicsSimulator | ) | [virtual] |
Definition at line 331 of file Controller_impl.cpp.
virtual void Controller_impl::setModelName | ( | const char * | localModelName | ) | [inline, virtual] |
Definition at line 75 of file Controller_impl.h.
void Controller_impl::setTimeStep | ( | CORBA::Double | _timeStep | ) | [inline] |
Definition at line 59 of file Controller_impl.h.
void Controller_impl::setupRtcConnections | ( | ) | [private] |
Definition at line 221 of file Controller_impl.cpp.
void Controller_impl::setViewSimulator | ( | ViewSimulator_ptr | viewSimulator | ) | [virtual] |
Definition at line 337 of file Controller_impl.cpp.
void Controller_impl::shutdown | ( | ) | [virtual] |
Definition at line 538 of file Controller_impl.cpp.
void Controller_impl::start | ( | void | ) | [virtual] |
Definition at line 343 of file Controller_impl.cpp.
void Controller_impl::stop | ( | void | ) | [virtual] |
Definition at line 492 of file Controller_impl.cpp.
bool Controller_impl::bRestart [private] |
Definition at line 132 of file Controller_impl.h.
BridgeConf* Controller_impl::bridgeConf [private] |
Definition at line 80 of file Controller_impl.h.
CameraSequence_var Controller_impl::cameras [private] |
Definition at line 119 of file Controller_impl.h.
double Controller_impl::controlTime |
Definition at line 77 of file Controller_impl.h.
Camera::CameraParameter_var Controller_impl::cparam [private] |
Definition at line 120 of file Controller_impl.h.
DynamicsSimulator_var Controller_impl::dynamicsSimulator [private] |
Definition at line 105 of file Controller_impl.h.
std::string Controller_impl::modelName [private] |
Definition at line 83 of file Controller_impl.h.
RTC::CorbaNaming* Controller_impl::naming [private] |
Definition at line 103 of file Controller_impl.h.
Definition at line 117 of file Controller_impl.h.
RtcInfoMap Controller_impl::rtcInfoMap [private] |
Definition at line 99 of file Controller_impl.h.
RtcInfoVector Controller_impl::rtcInfoVector [private] |
Definition at line 101 of file Controller_impl.h.
RTC::Manager* Controller_impl::rtcManager [private] |
Definition at line 81 of file Controller_impl.h.
SensorState_var Controller_impl::sensorState [private] |
Definition at line 108 of file Controller_impl.h.
bool Controller_impl::sensorStateUpdated [private] |
Definition at line 109 of file Controller_impl.h.
double Controller_impl::timeStep [private] |
Definition at line 131 of file Controller_impl.h.
ViewSimulator_var Controller_impl::viewSimulator [private] |
Definition at line 106 of file Controller_impl.h.
VirtualRobotRTC* Controller_impl::virtualRobotRTC [private] |
Definition at line 84 of file Controller_impl.h.